{"id":184041,"date":"2024-10-15T17:06:40","date_gmt":"2024-10-15T17:06:40","guid":{"rendered":"https:\/\/innovationspace.ansys.com\/knowledge\/?post_type=topic&p=184041"},"modified":"2025-04-04T16:51:40","modified_gmt":"2025-04-04T16:51:40","slug":"aerogenerator-rotor-blade-angle-control-system-with-scade-guest-article-student-cinvestav","status":"publish","type":"topic","link":"https:\/\/innovationspace.ansys.com\/knowledge\/forums\/topic\/aerogenerator-rotor-blade-angle-control-system-with-scade-guest-article-student-cinvestav\/","title":{"rendered":"Aerogenerator Rotor Blade Angle Control System with SCADE (Guest Article \u2013 Student \u2013 Cinvestav)"},"content":{"rendered":"

Guest Article – Student – Aerogenerator Rotor Blade Angle Control System with SCADE<\/h3>\n

This article is a guest contribution from Cinvestav<\/a>. It was written by a student group as part of Masters-level, semester long SCADE academic program<\/a> course.<\/p>\n

It explains the design and simulation of a system that controls the optimal inclination of rotor blades in the aerogenerator component of a wind turbine.<\/p>\n

If you are an academic and are interested in teaching an engineering curriculum backed by Ansys tools, please have a look at our Ansys Funded Curriculum<\/a> page.<\/p>\n

\n
\n <\/em>\n<\/p>\n

Introduction<\/h3>\n

Wind turbine systems convert the kinetic energy of the wind into electrical energy. A wind turbine system is comprised of several essential and critical components, which work together to optimize the energy generated. One of the most critical systems of a wind turbine is the Rotor Blade Angle Control, which refers to a set of components and software designed to control the orientation of the blades.<\/p>\n

The Rotor Blade Angle Control System refers to a set of components and software designed to control the orientation of the blades and its main advantages is the optimization of the generated energy, the automatic adjustment of the blade angle maximizes the use of the wind energy, also allows to adapt to changes in wind speed. Additional it provides protection of the wind turbine, preventing wind turbine working outside of its safe limits.<\/p>\n

This project consists of a basic Rotor Blade Angle Control System for wind turbines and was designed using ANSYS SCADE software. The design implementation begins with mapping the Mathematical and Physical models used in literature for blade angle control, with operators ANSYS SCADE to calculate the angle of the blades according to the input wind speed, among other parameters that for this work were established statically. Also, operators were implemented to monitor the system. The system is capable of continuously monitoring the wind speed and calculating the optimal degree of the blades. The system will allow knowing at all times the wind speed and PM (generation power) in real time. The system will have a module for the generation of warnings, which will allow monitoring the behavior of the wind speed in order to implement mechanisms to prevent mechanical damage to the wind turbine.<\/p>\n

As a result, the proposed design was implemented using the ARDUINO system in simulation. This simulation environment allows working with the Rotor Blade Angle Control System design code generated by the ANSYS SCADE tool, without having any problem at the time of implementation, which indicates that the generated code helps to speed up the implementation process and ensures consistency between the conceptual design and the practical implementation.<\/p>\n

Model Of Wind Turbine Behavior<\/h3>\n

Figure 1 shows gray color the range operation pitch control for this implementation, it can be seen that after a speed of 11.5 m\/s (cut-in) the power generated by the wind turbine is maximum and when exceeds 25 m\/s (cut-on)\tthe wind turbine is shutdown to prevent mechanical damages.<\/p>\n

\n
\n Figure 1 – Optimal operation of the aerogenerator for power generation<\/em>\n<\/p>\n

Due to the objective project, only the wind speed is being considered to modify the blade angle. In the literature information was found on the relationship between wind speed m\/s and blade angle for this operation region seen above. Bellow in table 1 is detailed wind speed versus pitch angle [1]:<\/p>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
\n

Wind speed (m\/s)<\/p>\n<\/td>\n

\n

Angle $$\\beta$$ (<\/em>\u00b0)<\/em><\/p>\n<\/td>\n<\/tr>\n

\n

11.5<\/p>\n<\/td>\n

\n

0.769<\/p>\n<\/td>\n<\/tr>\n

\n

12<\/p>\n<\/td>\n

\n

2.21<\/p>\n<\/td>\n<\/tr>\n

\n

12.1<\/p>\n<\/td>\n

\n

2.53<\/p>\n<\/td>\n<\/tr>\n

\n

12.2<\/p>\n<\/td>\n

\n

2.94<\/p>\n<\/td>\n<\/tr>\n

\n

12.3<\/p>\n<\/td>\n

\n

3.43<\/p>\n<\/td>\n<\/tr>\n

\n

12.4<\/p>\n<\/td>\n

\n

3.98<\/p>\n<\/td>\n<\/tr>\n

\n

12.5<\/p>\n<\/td>\n

\n

4.55<\/p>\n<\/td>\n<\/tr>\n

\n

13<\/p>\n<\/td>\n

\n

7.3495<\/p>\n<\/td>\n<\/tr>\n

\n

14<\/p>\n<\/td>\n

\n

12.0014<\/p>\n<\/td>\n<\/tr>\n

\n

15<\/p>\n<\/td>\n

\n

15.6949<\/p>\n<\/td>\n<\/tr>\n

\n

16<\/p>\n<\/td>\n

\n

18.7385<\/p>\n<\/td>\n<\/tr>\n

\n

17<\/p>\n<\/td>\n

\n

21.309<\/p>\n<\/td>\n<\/tr>\n<\/table>\n

Table 1 – Relationship between wind speed and optimum blade angle [1]<\/p>\n

With this information we can generate a polynomial function of degree two to find the best Beta for the input wind speed value, having as a result the following equation after adjustment of the data (see Figure 2):<\/p>\n

$$\\beta = -0.1597 * v^{2}_{wind} + 8.183 * v_{wind} – 72.212$$<\/p>\n

\n
\n Figure 2 – Polynomial fit to Table 1 data<\/em>\n<\/p>\n

As part of the monitoring, the following equation was used to calculate the PM for 3m\/s to 25 m\/s range, according to the calculated Beta value [2][3]:<\/p>\n

$$P_{m} = C_{p}(\\lambda, \\beta)^{\\rho A}_{2}v^{3}_{wind}$$<\/p>\n

Where:<\/p>\n\n\n\n\n\n\n\n\n\n\n
\n

Variable<\/em><\/p>\n<\/td>\n

\n

Description<\/em><\/p>\n<\/td>\n<\/tr>\n

\n

$$P_{m}$$<\/p>\n<\/td>\n

\n

Mechanical output power of the turbine (W)<\/p>\n<\/td>\n<\/tr>\n

\n

$$cp$$<\/p>\n<\/td>\n

\n

Performance coefficient of the turbine<\/p>\n<\/td>\n<\/tr>\n

\n

$$\\rho$$<\/p>\n<\/td>\n

\n

Air density (kg\/m3)<\/p>\n<\/td>\n<\/tr>\n

\n

$$A$$<\/p>\n<\/td>\n

\n

Turbine swept area (m2)<\/p>\n<\/td>\n<\/tr>\n

\n

$$v_{wind}$$<\/p>\n<\/td>\n

\n

Wind speed (m\/s)<\/p>\n<\/td>\n<\/tr>\n

\n

$$\\lambda$$<\/p>\n<\/td>\n

\n

Tip speed ratio of the rotor blade tip speed to wind speed<\/p>\n<\/td>\n<\/tr>\n

\n

$$\\beta$$<\/p>\n<\/td>\n

\n

Blade pitch angle (deg)<\/p>\n<\/td>\n<\/tr>\n

\n

Coefficients<\/p>\n<\/td>\n

\n

C1 = 0.5176, C2 = 116, C3 = 0.4, C4 = 5, C5 = 21 and C6 = 0.0068<\/p>\n<\/td>\n<\/tr>\n<\/table>\n

Table 2 – Variables involved in the correct operation of an aerogenerator<\/p>\n

A generic equation is used to model \ud835\udc36\ud835\udc43(\ud835\udf06, \ud835\udefd). This equation, based on the modeling turbine characteristics, is:<\/p>\n

$$C_{p}(\\lambda, \\beta) = C_{1}(\\frac{C_{2}}{\\lambda_{i}}- C_{3}\\beta – C_{4})e^{-\\frac{C_{5}}{\\lambda_{i}}}+C_{i}\\lambda$$<\/p>\n

Where:<\/p>\n

$$\\frac{1}{\\lambda_{i}}=\\frac{1}{\\lambda+0.08\\beta}-\\frac{0.035}{\\beta^{3}+1}$$<\/p>\n

Stage definitions<\/h3>\n

This project was developed in two stages begin with the definition of Primary and Final control elements and following with the law of control and related algorithms. Below in Table 3 appears a brief description of above.<\/p>\n

Pitch control stages:<\/p>\n\n\n\n\n\n\n
\n

Stage<\/strong><\/p>\n<\/td>\n

\n

Definition<\/strong><\/p>\n<\/td>\n

\n

Description<\/p>\n<\/td>\n<\/tr>\n

\n

1<\/strong><\/p>\n<\/td>\n

\n

Primary control elements:<\/strong><\/p>\n

-Wind Speed Sensors<\/strong><\/p>\n

-Blade orientation sensor<\/strong><\/p>\n

-Turbine Speed sensor<\/strong><\/p>\n<\/td>\n

\n

These sensors measure wind speed and direction in real time. Wind speed is crucial because it determines the force with which the wind hits the rotor blades and, therefore, the amount of energy that can be captured.<\/p>\n<\/td>\n<\/tr>\n

\n

1<\/strong><\/p>\n<\/td>\n

\n

Final control elements:<\/strong><\/p>\n

-Servomotors (Actuators)<\/strong><\/p>\n<\/td>\n

\n

These are the mechanical devices responsible for modifying the angle of the blades according to the instructions of the automatic control system. These actuators must be accurate and fast to ensure an adequate response to changes in wind conditions.<\/p>\n<\/td>\n<\/tr>\n

\n

2<\/strong><\/p>\n<\/td>\n

\n

Law of control<\/strong><\/p>\n<\/td>\n

\n

Typical PID algorithm from scratch.<\/p>\n<\/td>\n<\/tr>\n

\n

2<\/strong><\/p>\n<\/td>\n

\n

Set Point Algorithm<\/strong><\/p>\n

Automatic Control System<\/strong><\/p>\n<\/td>\n

\n

Based on the information provided by the sensors, the automatic control system calculates the optimum angle of the rotor blades at all times. This calculation takes into account wind speed, wind direction and other environmental parameters to adjust the blade angle and optimize energy efficiency.<\/p>\n<\/td>\n<\/tr>\n<\/table>\n

Table 3 – The different stages of step control<\/p>\n

Design in SCADE<\/h3>\n

Below are some of the requirements implemented:<\/p>\n

Rotor Blade Angle Control System behavior<\/p>\n

RBAC_HLR_ RBACB_01
\n<\/strong>When the wind speed is less than 11.5 m\/s, the RBAC shall be Off. The output of angle should be set to 0.<\/p>\n

RBAC_HLR_ RBACB_02
\n<\/strong>The RBAC shall be set on when the wind speed is greater than 11.5 m\/s<\/p>\n

RBAC_HLR_ RBACB_03
\n<\/strong>The RBAC shall automatically go off when the wind speed is greater than 25.5 m\/s. The output of angle should be set to the last RBAC output value.<\/p>\n

RBAC_HLR_ RBACB_04
\n<\/strong>If the wind speed is within the ranges 11.5 m\/s-25 m\/s, the RBAC shall be on and regulate the blade angle. The alarm (statusSystemOperation) shall be set to TRUE.<\/p>\n

RBAC_HLR_ RBACB_05
\n<\/strong>If the wind speed is greater than 25 m\/s, the RBAC shall be on and regulate the blade angle. The alarm(statusSystem) shall be set to TRUE.<\/p>\n

RBAC_HLR_ RBACB_0C
\n<\/strong>The RBAC system shall be automatically disabled when the wind speed Is less than 11.5. The output Output1, Output2, Output3 shall be set to 0.<\/p>\n

RBAC _HLR_ RBACB_07
\n<\/strong>The RBAC system shall be automatically disabled when the wind speed Is greater than 25m\/s. The output Output1, Output2, Output3 shall be set to 100.<\/p>\n

Blade adjusting control<\/p>\n

RBAC_HLR_BAC_01
\n<\/strong>When the RBAC is off and the alarm(statusSystemOperation) is FALSE, the blades angle shall be adjust using 0 degrees.<\/p>\n

RBAC_HLR_BAC_02
\n<\/strong>When the RBAC is off and the alarm (statusSystemOperation) is TRUE, the blades angle shall be adjust using the max angle (100%).<\/p>\n

RBAC_HLR_ BAC _03
\n<\/strong>When the RBAC is on, the blade angle shall be automatically adjusted.<\/p>\n

RBAC_HLR_BAC _04
\n<\/strong>The regulation shall be done using a PID controller (proportional, integral and derivative algorithm), with P_, I_ and D_ factors.<\/p>\n

Blade angle management<\/p>\n

RBAC_HLR_BAM_01
\n<\/strong>The blade angle shall be managed only when the RBAC is enabled.<\/p>\n

RBAC_HLR_BAM_02
\n<\/strong>The blade angle shall be set to the angle calculated using the current wind speed automatically.<\/p>\n

RBAC_HLR_BAM_03
\n<\/strong>The blade angle shall be increased when the wind speed increase.<\/p>\n

RBAC_HLR_BAM_04
\n<\/strong>The blade angle shall be decreased when the wind speed decrease.<\/p>\n

Model<\/h3>\n

BLOCK: Aerogenerator.<\/p>\n

As part of the design of the rotor blade angle control system, the different operators make use of the constants shown in Table 5.<\/p>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
\n

Name<\/p>\n<\/td>\n

\n

Type<\/p>\n<\/td>\n

\n

Value<\/p>\n<\/td>\n

\n

Comments<\/p>\n<\/td>\n<\/tr>\n

\n

A<\/code><\/p>\n<\/td>\n

\n

float32<\/code><\/p>\n<\/td>\n

\n

20106<\/code><\/p>\n<\/td>\n

\n

Area<\/p>\n<\/td>\n<\/tr>\n

\n

C1<\/code><\/p>\n<\/td>\n

\n

float32<\/code><\/p>\n<\/td>\n

\n

0.5176<\/code><\/p>\n<\/td>\n

\n

Constant 1<\/p>\n<\/td>\n<\/tr>\n

\n

C2<\/code><\/p>\n<\/td>\n

\n

float32<\/code><\/p>\n<\/td>\n

\n

116<\/code><\/p>\n<\/td>\n

\n

Constant 2<\/p>\n<\/td>\n<\/tr>\n

\n

C3<\/code><\/p>\n<\/td>\n

\n

float32<\/code><\/p>\n<\/td>\n

\n

0<\/code><\/p>\n<\/td>\n

\n

Constant 3<\/p>\n<\/td>\n<\/tr>\n

\n

C4<\/code><\/p>\n<\/td>\n

\n

float32<\/code><\/p>\n<\/td>\n

\n

5<\/code><\/p>\n<\/td>\n

\n

Constant 4<\/p>\n<\/td>\n<\/tr>\n

\n

C5<\/code><\/p>\n<\/td>\n

\n

float32<\/code><\/p>\n<\/td>\n

\n

21<\/code><\/p>\n<\/td>\n

\n

Constant 5<\/p>\n<\/td>\n<\/tr>\n

\n

C6<\/code><\/p>\n<\/td>\n

\n

float32<\/code><\/p>\n<\/td>\n

\n

0.0068<\/code><\/p>\n<\/td>\n

\n

Constant 6<\/p>\n<\/td>\n<\/tr>\n

\n

cut_in<\/code><\/p>\n<\/td>\n

\n

float32<\/code><\/p>\n<\/td>\n

\n

4<\/code><\/p>\n<\/td>\n

\n

Pitch control on<\/p>\n<\/td>\n<\/tr>\n

\n

cut_on<\/code><\/p>\n<\/td>\n

\n

float32<\/code><\/p>\n<\/td>\n

\n

25<\/code><\/p>\n<\/td>\n

\n

Shutdown<\/p>\n<\/td>\n<\/tr>\n

\n

D_<\/code><\/p>\n<\/td>\n

\n

float32<\/code><\/p>\n<\/td>\n

\n

0.1<\/code><\/p>\n<\/td>\n

\n

Differencial constant<\/p>\n<\/td>\n<\/tr>\n

\n

I_<\/code><\/p>\n<\/td>\n

\n

float32<\/code><\/p>\n<\/td>\n

\n

0.1<\/code><\/p>\n<\/td>\n

\n

Integral constant<\/p>\n<\/td>\n<\/tr>\n

\n

lambda<\/code><\/p>\n<\/td>\n

\n

float32<\/code><\/p>\n<\/td>\n

\n

0.5<\/code><\/p>\n<\/td>\n

\n

Relation speeds wind –<\/p>\n

turbine<\/p>\n<\/td>\n<\/tr>\n

\n

lower_limit<\/code><\/p>\n<\/td>\n

\n

float32<\/code><\/p>\n<\/td>\n

\n

12<\/code><\/p>\n<\/td>\n

\n

Warning<\/p>\n<\/td>\n<\/tr>\n

\n

P<\/code><\/p>\n<\/td>\n

\n

float32<\/code><\/p>\n<\/td>\n

\n

1.23<\/code><\/p>\n<\/td>\n

\n

Proportional constant<\/p>\n<\/td>\n<\/tr>\n

\n

P_<\/code><\/p>\n<\/td>\n

\n

float32<\/code><\/p>\n<\/td>\n

\n

1.2<\/code><\/p>\n<\/td>\n

\n

Proportional constant<\/p>\n<\/td>\n<\/tr>\n

\n

upper_limit<\/code><\/p>\n<\/td>\n

\n

float32<\/code><\/p>\n<\/td>\n

\n

25<\/code><\/p>\n<\/td>\n

\n

Alarm<\/p>\n<\/td>\n<\/tr>\n<\/table>\n

Table 5 – Constants<\/p>\n

VIEWS TOP DESIGN SCADE.<\/p>\n

The Figure 3 shows the TOP project of the design made in SCADE. This top operator, the Wind Turbine operator is shown which receives the wind speed as input. Using the mathematical models described in the section “MODEL OF WIND TURBINE BEHAVIOR” the new angle (Beta) for the blades is calculated, and the expected power generated (PM) is also calculated by applying the values to place the blades at the new angle.<\/p>\n

The PID operators for each of the blades are also shown, as well as the analog operators that allow the 3 wind turbine blades to be reoriented to the new angle. The alarm module is also observed, which allows us to know the status of the systems (green means that there is a lower wind speed for the operation of the system, yellow means that the system is operating with the safe limits of wind speed and red means that the system is operating in unsafe limits).<\/p>\n

\n
\n Figure 3 – Top design<\/em>\n<\/p>\n

The following list shows the dependency tree of the model operators.<\/p>\n